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<div class="title">System.h</div>  </div>
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<a href="_system_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef SYSTEM_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define SYSTEM_H</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;opencv2/core.hpp&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;opencv2/videoio.hpp&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a>{</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>KeyFrameDatabase;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>MapDrawer;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">class </span>Viewer;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">class </span>FrameDrawer;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">class </span>Tracking;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">class </span>LocalMapping;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">class </span>LoopClosing;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">class </span>Serializer;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html">   96</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html">System</a></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Para que se vea desde main y viewer</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">//mutex mutexVideoEntrada;</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// Input sensor</span></div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">  105</a></span>&#160;<span class="comment"></span>    <span class="keyword">enum</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a>{</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd">  106</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd">MONOCULAR</a>=0<span class="comment">//,</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="comment">//STEREO=1,</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="comment">//RGBD=2</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    };</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">// Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads.</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a8e9b6b0e27ac44fe16b0f35c39aa9b63">System</a>(<span class="keyword">const</span> <span class="keywordtype">string</span> &amp;strVocFile, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;strSettingsFile, <span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a> sensor, <span class="keyword">const</span> <span class="keywordtype">bool</span> bUseViewer = <span class="keyword">true</span>, cv::VideoCapture* = NULL);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Proccess the given monocular frame</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale.</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">// Returns the camera pose (empty if tracking fails).</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a0408659bafa31c4d0722ccd032fb9430">TrackMonocular</a>(<span class="keyword">const</span> cv::Mat &amp;im, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;timestamp);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">// This stops local mapping thread (map building) and performs only camera tracking.</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cd39ec31a23d7ba5ebe1a6e4f4a0f89">ActivateLocalizationMode</a>();</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">// This resumes local mapping thread and performs SLAM again.</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3bb91bfb9547b01596dac3e9fdd4adfd">DeactivateLocalizationMode</a>();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// Reset the system (clear map)</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a33f5eb6f33d14cdda2a889fe06d6619e">Reset</a>();</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">// All threads will be requested to finish.</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="comment">// It waits until all threads have finished.</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">// This function must be called before saving the trajectory.</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#aa934876a230dfa99e123f62b4b54d0cb">Shutdown</a>();</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// Save camera trajectory in the TUM RGB-D dataset format.</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// Call first Shutdown()</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">// See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">//void SaveTrajectoryTUM(const string &amp;filename);</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// Save keyframe poses in the TUM RGB-D dataset format.</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="comment">// Use this function in the monocular case.</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">// Call first Shutdown()</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">// See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6435a029f66a34103c434aa16e80eae3">SaveKeyFrameTrajectoryTUM</a>(<span class="keyword">const</span> <span class="keywordtype">string</span> &amp;filename);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// Save camera trajectory in the KITTI dataset format.</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// Call first Shutdown()</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">// See format details at: http://www.cvlibs.net/datasets/kitti/eval_odometry.php</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">//void SaveTrajectoryKITTI(const string &amp;filename);</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#abb40f7f7ab6dfe0a2aafc698563f2d12">GetMap</a>();</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="comment">// TODO: Save/Load functions</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// LoadMap(const string &amp;filename);</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">//  enum eTrackingState GetStatus();</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6103dd09808ecac27eaa68f71863549c">GetStatus</a>();</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a63af12168389966ddb02d3b4ddff3212">SetStatus</a>(<span class="keywordtype">int</span> status);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a28715073ef3ddbc8aececc634173f931">  192</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a28715073ef3ddbc8aececc634173f931">GetTracker</a>() {<span class="keywordflow">return</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a4170bdaefc0ea8fc5aad6b6e782f2dc4">mpTracker</a>;}</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">/* Agregados */</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a15fdbc8309a8b1255b3028053e9ba4a8">  198</a></span>&#160;    cv::VideoCapture* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a15fdbc8309a8b1255b3028053e9ba4a8">video</a>;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a60b15b1f4e0299fa9398801abc143070">  201</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a60b15b1f4e0299fa9398801abc143070">imagenEntrada</a>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">// Hice públicos los singletons, para que se puedan obtener vía System</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// The viewer draws the map and the current camera pose. 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It receives a frame and computes the associated camera pose.</span></div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">// It also decides when to insert a new keyframe, create some new MapPoints and</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">// performs relocalization if tracking fails.</span></div><div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a4170bdaefc0ea8fc5aad6b6e782f2dc4">  226</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a4170bdaefc0ea8fc5aad6b6e782f2dc4">mpTracker</a>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// Local Mapper. It manages the local map and performs local bundle adjustment.</span></div><div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a7597aee894baff53015605762c134b57">  230</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">LocalMapping</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a7597aee894baff53015605762c134b57">mpLocalMapper</a>;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="comment">// Loop Closer. It searches loops with every new keyframe. If there is a loop it performs</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// a pose graph optimization and full bundle adjustment (in a new thread) afterwards.</span></div><div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad722b80260f1ab8292ec8b7951047348">  235</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad722b80260f1ab8292ec8b7951047348">mpLoopCloser</a>;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#aa8e76b84fb1c3e90320903984328fec4">  238</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#aa8e76b84fb1c3e90320903984328fec4">mpFrameDrawer</a>;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a45f69b6579fdea93c692e52dbd9b0614">  241</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a45f69b6579fdea93c692e52dbd9b0614">mpMapDrawer</a>;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a8507b13866c3804cbbe74ba407d0caea">  244</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_serializer.html">Serializer</a> *<a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a8507b13866c3804cbbe74ba407d0caea">serializer</a>;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// Input sensor</span></div><div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6e2c6a2e12b887481a564e0f95912d40">  250</a></span>&#160;<span class="comment"></span>    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6e2c6a2e12b887481a564e0f95912d40">mSensor</a>;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="comment">// System threads: Local Mapping, Loop Closing, Viewer.</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="comment">// The Tracking thread &quot;lives&quot; in the main execution thread that creates the System object.</span></div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a920fdcb880bd1fa57bebfa2c90057c19">  255</a></span>&#160;<span class="comment"></span>    std::thread* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a920fdcb880bd1fa57bebfa2c90057c19">mptLocalMapping</a>;</div><div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a834f5f1017e9b36f9be8c7ce10fc1418">  257</a></span>&#160;    std::thread* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a834f5f1017e9b36f9be8c7ce10fc1418">mptLoopClosing</a>;</div><div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a734cf8bef072b5c49c0ecb21f0f1aa7d">  259</a></span>&#160;    std::thread* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a734cf8bef072b5c49c0ecb21f0f1aa7d">mptViewer</a>;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="comment">// Reset flag</span></div><div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad157436a5aba7af15a52b712c0f5d6c8">  262</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad157436a5aba7af15a52b712c0f5d6c8">mMutexReset</a>;</div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a2386c300525a863f84a50ae4fb00892c">  263</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a2386c300525a863f84a50ae4fb00892c">mbReset</a>;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="comment">// Change mode flags</span></div><div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a72f99b0f2e49cf8480f696662475243e">  266</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a72f99b0f2e49cf8480f696662475243e">mMutexMode</a>;</div><div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a375f5e834f834d35227d8500be331d4d">  268</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a375f5e834f834d35227d8500be331d4d">mbActivateLocalizationMode</a>;</div><div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3ddf79ff90f548529490fa6910f52bb8">  270</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3ddf79ff90f548529490fa6910f52bb8">mbDeactivateLocalizationMode</a>;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;};</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}<span class="comment">// namespace ORB_SLAM</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">#endif // SYSTEM_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_aa8e76b84fb1c3e90320903984328fec4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#aa8e76b84fb1c3e90320903984328fec4">ORB_SLAM2::System::mpFrameDrawer</a></div><div class="ttdeci">FrameDrawer * mpFrameDrawer</div><div class="ttdoc">Visor de cámara, que muestra la imagen con los puntos detectados sobre ella. </div><div class="ttdef"><b>Definition:</b> System.h:238</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_loop_closing_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">ORB_SLAM2::LoopClosing</a></div><div class="ttdoc">Cierre de bucles. </div><div class="ttdef"><b>Definition:</b> LoopClosing.h:60</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a2386c300525a863f84a50ae4fb00892c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a2386c300525a863f84a50ae4fb00892c">ORB_SLAM2::System::mbReset</a></div><div class="ttdeci">bool mbReset</div><div class="ttdef"><b>Definition:</b> System.h:263</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a834f5f1017e9b36f9be8c7ce10fc1418"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a834f5f1017e9b36f9be8c7ce10fc1418">ORB_SLAM2::System::mptLoopClosing</a></div><div class="ttdeci">std::thread * mptLoopClosing</div><div class="ttdoc">Hilo de cierre de bucle. </div><div class="ttdef"><b>Definition:</b> System.h:257</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a3bb91bfb9547b01596dac3e9fdd4adfd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a3bb91bfb9547b01596dac3e9fdd4adfd">ORB_SLAM2::System::DeactivateLocalizationMode</a></div><div class="ttdeci">void DeactivateLocalizationMode()</div><div class="ttdoc">Pasa a modo de localización y mapeo. </div><div class="ttdef"><b>Definition:</b> System.cc:183</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a60b15b1f4e0299fa9398801abc143070"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a60b15b1f4e0299fa9398801abc143070">ORB_SLAM2::System::imagenEntrada</a></div><div class="ttdeci">cv::Mat imagenEntrada</div><div class="ttdoc">Imagen de entrada. </div><div class="ttdef"><b>Definition:</b> System.h:201</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a6e2c6a2e12b887481a564e0f95912d40"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a6e2c6a2e12b887481a564e0f95912d40">ORB_SLAM2::System::mSensor</a></div><div class="ttdeci">eSensor mSensor</div><div class="ttdoc">Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad. </div><div class="ttdef"><b>Definition:</b> System.h:250</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a47daae04f6006cb21d7b00b5541d2bca"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a47daae04f6006cb21d7b00b5541d2bca">ORB_SLAM2::System::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa del mundo, con la lista de puntos 3D y de keyframes. </div><div class="ttdef"><b>Definition:</b> System.h:220</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">ORB_SLAM2::FrameDrawer</a></div><div class="ttdoc">Clase de instancia única que se ocupa de mostrar la imagen de la cámara, con marcas verdes sobre los ...</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:48</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_aa934876a230dfa99e123f62b4b54d0cb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#aa934876a230dfa99e123f62b4b54d0cb">ORB_SLAM2::System::Shutdown</a></div><div class="ttdeci">void Shutdown()</div><div class="ttdoc">Solicita el cierre del sistema. </div><div class="ttdef"><b>Definition:</b> System.cc:197</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a6435a029f66a34103c434aa16e80eae3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a6435a029f66a34103c434aa16e80eae3">ORB_SLAM2::System::SaveKeyFrameTrajectoryTUM</a></div><div class="ttdeci">void SaveKeyFrameTrajectoryTUM(const string &amp;filename)</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a375f5e834f834d35227d8500be331d4d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a375f5e834f834d35227d8500be331d4d">ORB_SLAM2::System::mbActivateLocalizationMode</a></div><div class="ttdeci">bool mbActivateLocalizationMode</div><div class="ttdoc">Señal solicitud de modo only tracking, sin mapeo. </div><div class="ttdef"><b>Definition:</b> System.h:268</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a3ddf79ff90f548529490fa6910f52bb8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a3ddf79ff90f548529490fa6910f52bb8">ORB_SLAM2::System::mbDeactivateLocalizationMode</a></div><div class="ttdeci">bool mbDeactivateLocalizationMode</div><div class="ttdoc">Señal solicitud de modo tracking&amp;mapping. </div><div class="ttdef"><b>Definition:</b> System.h:270</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a734cf8bef072b5c49c0ecb21f0f1aa7d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a734cf8bef072b5c49c0ecb21f0f1aa7d">ORB_SLAM2::System::mptViewer</a></div><div class="ttdeci">std::thread * mptViewer</div><div class="ttdoc">Hilo de visor. </div><div class="ttdef"><b>Definition:</b> System.h:259</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a6103dd09808ecac27eaa68f71863549c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a6103dd09808ecac27eaa68f71863549c">ORB_SLAM2::System::GetStatus</a></div><div class="ttdeci">int GetStatus()</div><div class="ttdoc">Informa el estado. </div></div>
<div class="ttc" id="class_d_bo_w2_1_1_templated_vocabulary_html"><div class="ttname"><a href="class_d_bo_w2_1_1_templated_vocabulary.html">DBoW2::TemplatedVocabulary</a></div><div class="ttdoc">Generic Vocabulary. </div><div class="ttdef"><b>Definition:</b> TemplatedVocabulary.h:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a4f89f0644efa2054604a53ffa8dbd4e7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a4f89f0644efa2054604a53ffa8dbd4e7">ORB_SLAM2::System::mpViewer</a></div><div class="ttdeci">Viewer * mpViewer</div><div class="ttdoc">Visor, maneja el visor del mapa y el de cámara. </div><div class="ttdef"><b>Definition:</b> System.h:208</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a7597aee894baff53015605762c134b57"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a7597aee894baff53015605762c134b57">ORB_SLAM2::System::mpLocalMapper</a></div><div class="ttdeci">LocalMapping * mpLocalMapper</div><div class="ttdoc">Objeto de mapeo. </div><div class="ttdef"><b>Definition:</b> System.h:230</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a3f14b84bb9663e1129e649e592bd14cf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">ORB_SLAM2::System::eSensor</a></div><div class="ttdeci">eSensor</div><div class="ttdoc">Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad. </div><div class="ttdef"><b>Definition:</b> System.h:105</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a30df3414ecc346463295d8138c80af2f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a30df3414ecc346463295d8138c80af2f">ORB_SLAM2::System::mpVocabulary</a></div><div class="ttdeci">ORBVocabulary * mpVocabulary</div><div class="ttdoc">Vocabulario ORB BOW. </div><div class="ttdef"><b>Definition:</b> System.h:212</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html">ORB_SLAM2::Viewer</a></div><div class="ttdoc">Viewer representa la interfaz de usuario. </div><div class="ttdef"><b>Definition:</b> Viewer.h:71</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a6cadd57703ba94de84c00876bf554d2f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cadd57703ba94de84c00876bf554d2f">ORB_SLAM2::System::mpKeyFrameDatabase</a></div><div class="ttdeci">KeyFrameDatabase * mpKeyFrameDatabase</div><div class="ttdoc">Base de datos de keyframes, para búsqueda de keyframes por BOW. </div><div class="ttdef"><b>Definition:</b> System.h:216</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a4170bdaefc0ea8fc5aad6b6e782f2dc4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a4170bdaefc0ea8fc5aad6b6e782f2dc4">ORB_SLAM2::System::mpTracker</a></div><div class="ttdeci">Tracking * mpTracker</div><div class="ttdoc">Objecto de tracking. </div><div class="ttdef"><b>Definition:</b> System.h:226</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">ORB_SLAM2::MapDrawer</a></div><div class="ttdoc">Esta clase contiene los métodos para dibujar en pangolin. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:41</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html">ORB_SLAM2::Tracking</a></div><div class="ttdoc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). </div><div class="ttdef"><b>Definition:</b> Tracking.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a6cd39ec31a23d7ba5ebe1a6e4f4a0f89"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cd39ec31a23d7ba5ebe1a6e4f4a0f89">ORB_SLAM2::System::ActivateLocalizationMode</a></div><div class="ttdeci">void ActivateLocalizationMode()</div><div class="ttdoc">Pasa a modo de sólo localización, sin mapeo (sólo tracking). </div><div class="ttdef"><b>Definition:</b> System.cc:176</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html">ORB_SLAM2::System</a></div><div class="ttdoc">System se instancia una única vez en main, en la variable SLAM. </div><div class="ttdef"><b>Definition:</b> System.h:96</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a920fdcb880bd1fa57bebfa2c90057c19"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a920fdcb880bd1fa57bebfa2c90057c19">ORB_SLAM2::System::mptLocalMapping</a></div><div class="ttdeci">std::thread * mptLocalMapping</div><div class="ttdoc">Hilo de mapeo. </div><div class="ttdef"><b>Definition:</b> System.h:255</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_ad722b80260f1ab8292ec8b7951047348"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#ad722b80260f1ab8292ec8b7951047348">ORB_SLAM2::System::mpLoopCloser</a></div><div class="ttdeci">LoopClosing * mpLoopCloser</div><div class="ttdoc">Objeto de cierre de bucles. </div><div class="ttdef"><b>Definition:</b> System.h:235</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a63af12168389966ddb02d3b4ddff3212"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a63af12168389966ddb02d3b4ddff3212">ORB_SLAM2::System::SetStatus</a></div><div class="ttdeci">void SetStatus(int status)</div><div class="ttdoc">Establece el estado. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">ORB_SLAM2::LocalMapping</a></div><div class="ttdoc">LocalMapping tiene una única instancia ejecutando el método Run en su propio thread. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:68</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a33f5eb6f33d14cdda2a889fe06d6619e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a33f5eb6f33d14cdda2a889fe06d6619e">ORB_SLAM2::System::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdoc">Reinicia el sistema. </div><div class="ttdef"><b>Definition:</b> System.cc:190</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a45f69b6579fdea93c692e52dbd9b0614"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a45f69b6579fdea93c692e52dbd9b0614">ORB_SLAM2::System::mpMapDrawer</a></div><div class="ttdeci">MapDrawer * mpMapDrawer</div><div class="ttdoc">Visor del mapa que muestra los puntos 3D y la pose de la cámara. </div><div class="ttdef"><b>Definition:</b> System.h:241</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a8e9b6b0e27ac44fe16b0f35c39aa9b63"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a8e9b6b0e27ac44fe16b0f35c39aa9b63">ORB_SLAM2::System::System</a></div><div class="ttdeci">System(const string &amp;strVocFile, const string &amp;strSettingsFile, const eSensor sensor, const bool bUseViewer=true, cv::VideoCapture *=NULL)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> System.cc:50</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd">ORB_SLAM2::System::MONOCULAR</a></div><div class="ttdef"><b>Definition:</b> System.h:106</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">ORB_SLAM2::KeyFrameDatabase</a></div><div class="ttdoc">Lista invertida de KeyFrames, accesible por BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a15fdbc8309a8b1255b3028053e9ba4a8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a15fdbc8309a8b1255b3028053e9ba4a8">ORB_SLAM2::System::video</a></div><div class="ttdeci">cv::VideoCapture * video</div><div class="ttdoc">Video de entrada. </div><div class="ttdef"><b>Definition:</b> System.h:198</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_abb40f7f7ab6dfe0a2aafc698563f2d12"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#abb40f7f7ab6dfe0a2aafc698563f2d12">ORB_SLAM2::System::GetMap</a></div><div class="ttdeci">Map * GetMap()</div><div class="ttdoc">Devuelve el mapa. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a28715073ef3ddbc8aececc634173f931"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a28715073ef3ddbc8aececc634173f931">ORB_SLAM2::System::GetTracker</a></div><div class="ttdeci">Tracking * GetTracker()</div><div class="ttdoc">Devuelve un puntero al objeto de tracking. </div><div class="ttdef"><b>Definition:</b> System.h:192</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_serializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_serializer.html">ORB_SLAM2::Serializer</a></div><div class="ttdoc">Clase encargada de la serialización (guarda y carga) del mapa. </div><div class="ttdef"><b>Definition:</b> Serializer.h:23</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a72f99b0f2e49cf8480f696662475243e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a72f99b0f2e49cf8480f696662475243e">ORB_SLAM2::System::mMutexMode</a></div><div class="ttdeci">std::mutex mMutexMode</div><div class="ttdef"><b>Definition:</b> System.h:266</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_ad157436a5aba7af15a52b712c0f5d6c8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#ad157436a5aba7af15a52b712c0f5d6c8">ORB_SLAM2::System::mMutexReset</a></div><div class="ttdeci">std::mutex mMutexReset</div><div class="ttdef"><b>Definition:</b> System.h:262</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a0408659bafa31c4d0722ccd032fb9430"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a0408659bafa31c4d0722ccd032fb9430">ORB_SLAM2::System::TrackMonocular</a></div><div class="ttdeci">cv::Mat TrackMonocular(const cv::Mat &amp;im, const double &amp;timestamp)</div><div class="ttdoc">Procesa una imagen de la cámara. </div><div class="ttdef"><b>Definition:</b> System.cc:129</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html_a8507b13866c3804cbbe74ba407d0caea"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html#a8507b13866c3804cbbe74ba407d0caea">ORB_SLAM2::System::serializer</a></div><div class="ttdeci">Serializer * serializer</div><div class="ttdoc">Serializador singleton. </div><div class="ttdef"><b>Definition:</b> System.h:244</div></div>
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